A simple Dynamixel robot arm

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Demonstration of a simple robotic arm build from a set of Dynamixel servos. This example uses python running on a Raspberry Pi and leverages the ability to read the current positions of the servos and to set speed and torque limits on the motors.
This is based upon the Dynamixel AX-12A servos, being driven by a USB2AX2 controller. The controller has been discontinued, and I am looking into a successor. But the controller really is just acting as a communications interface from the Raspberry Pi.
www.trossenrobotics.com/dynam...
www.trossenrobotics.com/p/pha...
The sourcecode is available on my GitHub repository at: github.com/corgitronics/dynam...

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29 июл 2024

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Комментарии : 21

@UndernetSystems 6 лет назад

Very cool Mr. Corgi! Really like these servos.

@jcims 4 года назад

Hilarious subject for the demo, I was thinking about building a robot arm to help with bullet sorting. Pluck from case, place on a scale, measure diameter and length down to half thou (not with gripper most likely but i suppose with a ballscrew and linear rails it might work?) and place into appropriate containers. Great demo!

@kw19991 3 года назад

This is a great video! Did you ever get to the root cause of the bad servo at 9:00 in this video? Do you know any good articles about the reliability of the Dynamixel hardware in terms of stress testing? I'm just trying to price out what it'll cost to buy these versus buy something more expensive and have it last longer for the application I'm using them for.

@kunal12365 5 лет назад

Hi Corgitronics, Great video, thanks for sharing. I am developing a cleaning product which requires use of programmable robotic arm. How can I contact you?

@calvinbarajas5144 5 лет назад

Hi Corgitronics, great video, thanks for sharing. When you supply power to all three AX-12A actuators on a single bus, do you just supply the 9-12v recommended in the user manual to the 1st AX-12A on the bus, or do you have to supply 9-12v to each AX-12A individually? If you just supply 9-12v at the beginning of the bus, do you notice a voltage/current drop every time you add 1 more AX-12A to the bus?

@Corgitronics 5 лет назад

I supply regulated 12V to the beginning of the bus and just daisy-chain the motors. The Dynamixel servos are designed to work this way. I probably wouldn't string more than 3 or 4 on one wiring run. I didn't bother to check the voltage drop at the end of the run, as the servos don't use a lot of current and the wires are pretty short, only 8 - 10 inches between servos. Also, with this arm, at most only two servos are running at any moment.

@calvinbarajas5144 5 лет назад

Thanks very much for sharing your project with us. How can I get the code please?

@Corgitronics 5 лет назад

I didn't realize that the repo was still private. I have fixed that and added a link: github.com/corgitronics/dynamixel-arm-python Let me know if there's a compiler issue, but it should all work with Python 3.6.

@JoseAlvarez-lb9uo 5 лет назад

Hi Corgi - Do you know if the gripper itself fully closes*? * - "Fully-closed" meaning the ends of the gripper are touching.

@Corgitronics 5 лет назад

I don't think the two sides will touch when closed without some sort of filler material, such as the two blocks I made which you can see attached to the inside of each gripper surface.

@andreafajardo9878 4 года назад

hi!!!!!!!!!!!! i'm colombian. Student of enginner mecatronic. Could you post on your blog or cloud the CAD of the used parts?

@shubhamshah9963 4 года назад

Very amazing video sir. May i ask u one question, Can this work without USB2AX (only raspberry and IC ) like you showed in one of your videos using your github code ?

@Corgitronics 4 года назад

Thank you. As mentioned in the other video, I had limited success with directly controlling Dynamixels. They seem to be fairly sensitive about the signal timing. So, I'm still using the USB2AX for the one set of servos. I did not have luck initially with the OpenCM9 board, but I'll probably give it another try when I build another machine using Dynamixels.

@shubhamshah9963 4 года назад

Kindly do use open Cm 9.04 i have that and i am stuck with the programing part. I am using open CM 485 expansion board with it. I will wait for your vid with open CM 9.04. thank you.

@Corgitronics 4 года назад

@@shubhamshah9963 I hope you can get it working in the CM 485 board, I am working on another couple of projects at the moment... primarily with the Tic T249 board from Pololu, which is for stepper motors. Good luck on your efforts! Let me know what you discover.

@calvinbarajas5144 5 лет назад

Sorry to keep bothering you Corgitronics but I have another question. How would one go about ordering the arm hardware: two extrusion posts/beams, bolts, nuts, connector plate, and steel base plate. I looked on amazon and they sell either really long posts/beams or really short. They also mostly sell in large quantities. I would really appreciate any help.

@Corgitronics 5 лет назад

No problem, I'll try to answer as quickly as I can. The beam and baseplate are from the Open Builds Part Store: openbuildspartstore.com/v-slot-linear-rail-1/ I used M5 screws and T-nuts, along with some corner connector blocks to assemble it. You can cut the aluminum rail with a hacksaw pretty easily, just get a metal cutting blade.

@ShaneClaussen 3 года назад

@@Corgitronics I was going to order the parts for your base form open builds part store - Calvin kindly enumerated all the parts - the one open question is what you've referred to above as the corner connector blocks. Which ones did you use and/or are these necessary etc? Thanks!

@Corgitronics 3 года назад

@@ShaneClaussen I'm not sure where I refer to a "corner connector block" in this video. The OpenBuilds parts are just the base plate and the 20x40mm extrusion. If you can point out the time in the video that you are referring to, perhaps I can elaborate.

@Mtaalas 6 лет назад

Too bad these servos are like 220$+ per piece :) So that thing is 1000$+ robot arm...

@Corgitronics 6 лет назад

Mtaalas I'm not sure which servos you are looking at, but the AX12 servos cost $45 each. I bought a six pack of them which reduced the average price to $37 each. So, with the gripper and controller, the arm cost about $146.